'The View' co-host joined former co-star Annaliese van der Pol on stage, and it was just the best.
Not even the biggest That's So Raven fans could have predicted this ultimate reunion!
Raven-Symone and Anneliese van der Pol, who played best friends Raven and Chelsea on the Disney Channel sitcom, took fans on a nostalgic trip when they crooned the show's theme song together on Tuesday.
NEWS: Raven-Symone Says She Was Fat-Shamed as a 7-Year-Old
The View co-host was at 54 Below in New York City to attend Anneliese's solo show, and she hopped on stage to both the 31-year-old singer-actress' and their fans' delight.
Raven, 29, told her former co-star that she loved her and that she thought she was a genius. Seconds later she belted, "You can gaze into the future," and the crowd went wild.
"It finally happened. With my partner in crime," Anneliese captioned the video of the performance on Facebook, which you can watch below.
That's So Raven - Anneliese and RavenIt finally happened. With my partner in crime Raven-Symoné! #ThatsSoRavenFrom my solo show in NYC, directed by Tyce Green and music director Jonny Morrow xoxo
Posted by Anneliese van der Pol on Tuesday, September 22, 2015
PHOTOS: Favorite Cast Reunions
On Thursday, Raven posted clips from the performance on Instagram. "Awe @anneliesevanderpol had such a great time! Anytime gurl anytime!!!!" she captioned one of the videos.
Over the trio of posts, you can see Raven and Annaliese getting giddy when they hear the theme song kick off, but Raven admitted in the last one, "You won't hear me sing this for a while!!!! Xoxox@kylemassey @orlandobrown_@anneliesevanderpol love y'all#thatssoraven #disney #unicorn #tbt."
Although it was hard to tell by looking at her, Raven admitted that she was nervous. "I haven't sang in front of people in a really long time," she told the audience before joining Anneliese for Frank Sinatra's tune, "That’s Life."
In fact, the duo's performance was more like this, seeing as Raven sounded amazing:
The surprises didn't end there either. Raven took the opportunity to wish Anneliese a happy birthday by presenting her with a cake on stage.
WATCH: Raven-Symone Officially Joins The View
The cast of the series, which ran from 2003-2007, have managed to keep in touch despite their busy careers. Anneliese, Orlando Brown and Kyle Massey joined Raven on The View last month, and the group reminisced about the success of That's So Raven.
Raven posted a fun snap of the reunion on her Instagram, captioning the photo, "Love everyone of yall crazy people!... Thank you for coming on the show today!"
If you're in need of even more nostalgia, watch an adorable 3-year-old Raven show off her Spanish skills in the video below.